function [qnb, vn, eth] = insupdate_cali(qnb, vn, pos0, wm, vm, ts)

nn = size(wm,1); nts = nn*ts;
[phim, dvbm] = cnscl([wm, vm], 1);
eth = earth(pos0);
vn = vn + qmulv(qnb, dvbm) + eth.gn*nts;
qnb = qmul(rv2q(-eth.wnie*nts), qmul(qnb, rv2q(phim)));
qnb = qnormlz(qnb);

end

